CN114407066A - Material picking mechanism, device and method - Google Patents

Abstract

The invention provides a material picking mechanism, a device and a method, belonging to the technical field of feeding of high-end equipment, wherein the material picking mechanism comprises a picking head, a sliding table, a picking adapter plate, a sliding table adapter plate, an upper mounting plate, a code scanning unit and a robot adapter block; the material picking device comprises a picking unit, a multi-axis robot, a vacuum assembly, a base and a controller, wherein the controller controls the vacuum assembly, the multi-axis robot and the material picking mechanism to pick, acquire information and transfer materials; through the scheme of this application, improved the material and picked up efficiency and pick up the quality, but the wide application is picked up the transportation in automatic detection, the processing of 3C product etc..

Description

Material picking mechanism, device and method

Technical Field

The invention belongs to the technical field of feeding of high-end equipment, and particularly relates to a material picking mechanism, a device and a method, which can be widely applied to material picking and transferring in automatic detection and processing of 3C products and the like.

Background

In automatic or intelligent detection and processing equipment, the indispensable material that has picks up and transports, and among the prior art, modes such as vacuum adsorption often adopt absorb the material. However, a single material is often adsorbed by one adsorption head, that is, only one material can be picked up and transported at a time, and the position of picking up is easily deviated, and marks are left on the surface of the material or the material is damaged.

Disclosure of Invention

In order to overcome the disadvantages of the prior art, the present invention aims to provide a material pick-up mechanism, a device and a method, which can solve the problems.

A material picking mechanism comprises a picking head, a sliding table, a picking adapter plate, a sliding table adapter plate, an upper mounting plate and a robot adapter block;

the picking head is adjustably arranged on the picking adapter plate and is connected with the actuating surface of the sliding table through the picking adapter plate;

the fixed surface of the sliding table is connected with the sliding table adapter plate;

the top of the sliding table adapter plate is connected to the upper mounting plate;

the top surface of the upper mounting plate is detachably connected with the bottom surface of the robot switching block;

the picking head is driven by the sliding table to realize position fine adjustment, and the material picking mechanism realizes quick transfer and positioning of spatial positions through an external robot.

Furthermore, when the pickup head adopts a suction nozzle, the number of the suction nozzles is multiple, the height of the bottom surface of the suction nozzle can be adjusted to adapt to materials with different surface heights, and the suction nozzle provides adsorption force by an external vacuum source.

Furthermore, the outer side surface of the contact part of the pickup head and the material is provided with a flexible layer to prevent the material from being damaged during pickup.

Furthermore, an anti-mark layer is arranged outside the flexible layer of the pickup head so as to prevent the material from leaving marks when being picked up and ensure the picking quality.

Furthermore, a plurality of groups of pick-up heads and a corresponding number of code scanners are arranged below the upper mounting plate.

The invention also provides a material picking device, which comprises a picking unit, a multi-axis robot, a vacuum assembly, a base and a controller;

the picking unit adopts the material picking mechanism;

the material picking mechanism is connected to the multi-axis robot; the bottom of the multi-axis robot is fixed to the base; the vacuum assembly provides negative pressure for the material picking mechanism; the controller controls the vacuum assembly, the multi-axis robot and the material picking mechanism to pick up, collect information and transfer materials.

The invention also provides a material picking method adopting the material picking device, which comprises the following steps:

s1, controlling the multi-axis robot to drive the material picking mechanism to move above the material quickly by the controller;

s2, the controller finely adjusts the posture of the material picking mechanism based on the material space position, picks up the material and collects material information;

s3, controlling the material picking mechanism to lift and transfer to the position above the station to be released by the controller;

s4, controlling the material picking mechanism to move downwards and release materials by the controller;

and S5, repeating the steps S1-S4 to realize the continuous positioning, picking and transferring of the materials.

Compared with the prior art, the invention has the beneficial effects that: through the material pickup mechanism, the material pickup device and the material pickup method, a plurality of materials can be transported simultaneously, information acquisition is carried out on the materials simultaneously, and the working efficiency is improved.

Drawings

FIG. 1 is a schematic view of an embodiment of a material pick-up mechanism of the present invention employing a set of pick-up heads;

FIG. 2 is a schematic view of a pick-up head with a flexible layer and an anti-tracking layer disposed thereon;

FIG. 3 is a schematic diagram of an embodiment of a material pick-up mechanism employing two sets of pick-up heads;

FIG. 4 is a schematic diagram of the embodiment of FIG. 1 with the addition of a code scanner;

FIG. 5 is a schematic diagram of the embodiment of FIG. 3 with the addition of a code scanner;

FIG. 6 is a schematic view of a material pickup apparatus;

fig. 7 is an operation schematic diagram of the material pickup device for transferring two materials at a time.

In the figure:

1000. a material pickup device;

100. a material picking mechanism;

1. a pickup head; 11. a base; 12. a flexible layer; 13. an anti-scratch layer;

2. a sliding table;

3. picking up the adapter plate;

4. a slipway adapter plate;

5. an upper mounting plate;

6. a robot transfer block;

7. a code scanner;

8. a code scanning adapter plate;

200. a multi-axis robot;

300. a vacuum assembly;

400. a base.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Material picking mechanism

Referring to fig. 1 to 5, the material pickup mechanism 100 includes a pickup head 1, a slide table 2, a pickup adapter plate 3, a slide table adapter plate 4, an upper mounting plate 5, and a robot adapter block 6.

Connection relation: the pickup head 1 is adjustably mounted on the pickup adapter plate 3 and is connected with the actuating surface of the sliding table 2 through the pickup adapter plate 3; the fixed surface of the sliding table 2 is connected with the sliding table adapter plate 4; the top of the sliding table adapter plate 4 is connected to the upper mounting plate 5; the top surface of the upper mounting plate 5 is detachably connected with the bottom surface of the robot adapter block 6.

Wherein, pick up head 1 and realize the position fine setting under the drive of slip table 2, material pick up mechanism 100 and realize the quick transfer and the location of spatial position through external robot.

Wherein the pick-up head 1 employs a suction nozzle or a gripper (not shown), which is exemplified in the present application in a suction nozzle manner.

Furthermore, when the pickup head 1 adopts a suction nozzle, the number of the suction nozzles is multiple, the height of the bottom surface of the suction nozzle can be adjusted to adapt to materials with different surface heights, and the suction nozzle provides adsorption force by an external vacuum source.

Further, when the pickup head 1 adopts a clamping jaw, the clamping jaw is driven by an external air source or electric power.

Referring to fig. 2, in order to prevent damage when picking up material, a flexible layer 12 is provided on the outer side of the base 11 of the pick head 1. Further, in order to prevent marks from being left during material picking and ensure the picking quality, an anti-mark layer 13 is arranged outside the flexible layer 12 of the picking head 1, the anti-mark layer is a porous film and is made of a fiber material or an anti-mark composite material.

Wherein, the fibre material compliance is good, can avoid leaving the trace of inhaling on the adsorbate surface, and fibre material can be handled into dustless material (for example dustless cloth etc.) moreover, is difficult to the adhesion dust, can avoid being leaveed the dust on being picked up the material, and simultaneously, fibre material is less relatively with the frictional force of being picked up the material, and fibre material itself is difficult to drop, fibre material with be picked up the material contact and can not drop, avoided remaining the risk on being picked up the material with material itself.

Further, the fibrous material may include one or more of: non-woven fabrics, fiber paper, knitted fabrics, and the like.

The anti-mark composite material has the hydrophobic and oleophobic characteristics, if a nano-layer porous material is adopted, moisture and oil can not be remained on the surface in the using process, so that the pick-up head 1 is kept clean, marks are not easy to be left on the picked-up material, and the anti-mark composite material can be used in the atmosphere of a high-humidity and oil-polluted environment.

In another embodiment, referring to fig. 4 and 5, the material picking mechanism 100 is further provided with a code scanning unit adjacent to the picking head 1, the code scanning unit comprises a code scanner 7 and a code scanning adapter plate 8, and the code scanner 7 is connected to the upper mounting plate 5 through the code scanning adapter plate 8.

Matching the case of a plurality of pick-up heads 1, a plurality of sets of pick-up heads 1 and a corresponding number of scanners 7 are arranged below the upper mounting plate 5.

Material pickup device

Referring to fig. 6, the material pickup apparatus 1000 includes a pickup unit, a multi-axis robot 200, a vacuum assembly 300, a base 400, and a controller.

Connection relation: the material pick-up mechanism 100 is connected to the multi-axis robot; the bottom of the multi-axis robot 200 is fixed to the base 400; the vacuum assembly 300 provides negative pressure to the material pick-up mechanism 100; the controller controls the vacuum assembly, the multi-axis robot 200 and the material picking mechanism 100 to pick, collect information and transfer materials.

Wherein the pick-up unit employs the material pick-up mechanism 100 described above, preferably an embodiment with multiple sets of pick-up heads 1 and scanners 7.

Material picking method

A method for picking up material by using the material picking up device 1000 comprises the following steps:

s1, the controller controls the multi-axis robot 200 to drive the material picking mechanism 100 to move to the position above the material quickly;

s2, the controller finely adjusts the posture of the material picking mechanism 100 based on the material space position, picks up materials and collects material information; specifically, step S2 includes:

s21, carrying out posture fine adjustment on the pickup head 1 on the first pickup adapter plate 3 of the material pickup mechanism 100 based on the position of the first material;

s22, the first pickup head 1 is driven by the corresponding sliding table 2 to move downwards, and is aligned with and close to the first material;

s23, controlling to provide a picking force for the first picking head 1, picking up the first material, restoring the height of the step S21 and collecting the current material information through the code scanner 7;

and S24, sequentially executing material picking actions on the remaining picking heads 1 until all the materials on the material picking station are picked or all the picking heads 1 pick the materials.

S3, controlling the material picking mechanism 100 to lift and transfer to the position above the station to be released by the controller;

s4, controlling the material picking mechanism 100 to move downwards and release materials by the controller;

and S5, repeating the steps S1-S4 to realize the continuous positioning, picking and transferring of the materials.

Referring to fig. 7, a case of simultaneously transferring 2 materials at a time is described for a single time using the material pickup apparatus 1000 with two sets of the pickup heads 1 and two scanners 7.

By the method, information acquisition, quick pickup and transfer of a plurality of materials can be realized, and the working efficiency is improved.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A material picking mechanism is characterized in that: the material picking mechanism (100) comprises a picking head (1), a sliding table (2), a picking adapter plate (3), a sliding table adapter plate (4), an upper mounting plate (5) and a robot adapter block (6);

the pickup head (1) is adjustably mounted on the pickup adapter plate (3) and is connected with the actuating surface of the sliding table (2) through the pickup adapter plate (3);

the fixed surface of the sliding table (2) is connected with the sliding table adapter plate (4);

the top of the sliding table adapter plate (4) is connected to the upper mounting plate (5);

the top surface of the upper mounting plate (5) is detachably connected with the bottom surface of the robot switching block (6);

the picking head (1) is driven by the sliding table (2) to realize position fine adjustment, and the material picking mechanism (100) realizes quick transfer and positioning of space positions through an external robot.

2. The material pickup mechanism of claim 1, wherein:

the pick-up head (1) adopts a suction nozzle or a clamping jaw.

3. The material pickup mechanism of claim 2, wherein: when the pickup head (1) adopts the suction nozzle, the number of the suction nozzles is multiple, the height of the bottom surface of the suction nozzle can be adjusted to adapt to materials with different surface heights, and the suction nozzle provides adsorption force by an external vacuum source.

4. The material pickup mechanism of claim 2, wherein: when the pickup head (1) adopts a clamping jaw, the clamping jaw is driven by an external air source or electric power.

5. The material pickup mechanism of claim 3 or 4, wherein: the outer side surface of the contact part of the pickup head (1) and the material is provided with a flexible layer to prevent the material from being damaged during pickup.

6. The material pickup mechanism of claim 5, wherein: and an anti-mark layer is arranged outside the flexible layer of the pick-up head (1) to prevent the material from leaving marks when being picked up, and the pick-up quality is ensured.

7. The material pickup mechanism of claim 1, wherein: the material picking mechanism (100) is close to pick up head (1) department and still be equipped with and sweep a yard unit, it includes code scanning ware (7) and sweeps a yard keysets (8) to sweep a yard unit, code scanning ware (7) are passed through sweep yard keysets (8) and are connected to go up mounting panel (5).

8. The material pickup mechanism of claim 7, wherein: and a plurality of groups of pick-up heads (1) and a corresponding number of code scanners (7) are arranged below the upper mounting plate (5).

9. A material pickup device is characterized in that: the material picking device (1000) comprises a picking unit, a multi-axis robot (200), a vacuum assembly (300), a base (400) and a controller;

the pickup unit employs the material pickup mechanism (100) of claim 8;

the material pick-up mechanism (100) is connected to the multi-axis robot; the bottom of the multi-axis robot (200) is fixed to the base (400); the vacuum assembly (300) provides negative pressure to the material pick-up mechanism (100); the controller controls the vacuum assembly, the multi-axis robot (200) and the material picking mechanism (100) to pick, collect information and transfer materials.

10. A method of material pickup using the material pickup apparatus (1000) of claim 9, the method comprising:

s1, controlling the multi-axis robot (200) to drive the material picking mechanism (100) to move above the material quickly by the controller;

s2, the controller finely adjusts the posture of the material picking mechanism (100) based on the material space position, picks up materials and collects material information;

s3, controlling the material picking mechanism (100) to lift and transfer to the position above the station to be released by the controller;

s4, controlling the material picking mechanism (100) to move downwards and release the material by the controller;

and S5, repeating the steps S1-S4 to realize the continuous positioning, picking and transferring of the materials.

Images